U.S. patent application number 16/969696 was filed with the patent office on 2021-01-07 for parking assist device.
This patent application is currently assigned to HITACHI AUTOMOTIVE SYSTEMS, LTD.. The applicant listed for this patent is HITACHI AUTOMOTIVE SYSTEMS, LTD.. Invention is credited to Keiichiro HIRAKAWA, Satoru OKUBO, Masashi SEIMIYA, Munetoshi TSUGE.
Application Number | 20210001837 16/969696 |
Document ID | / |
Family ID | |
Filed Date | 2021-01-07 |
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United States Patent
Application |
20210001837 |
Kind Code |
A1 |
HIRAKAWA; Keiichiro ; et
al. |
January 7, 2021 |
PARKING ASSIST DEVICE
Abstract
There is a problem that it takes a long time to park a vehicle
because the vehicle has to be returned to a position outside the
parking frame and parked. In step S160, the correction judgment
unit 142 judges from the necessary correction amounts calculated in
steps S140 and S150 and the remaining distance to the re-targeted
parking position that is re-recognized, whether or not correction
of the parking route with this remaining distance is possible. In a
case where it is judged in step S160 that correction with the
remaining distance r2 is impossible, the vehicle is stopped in step
S171. Even if it is judged in step S160 that the correction is
impossible, when the vehicle is moved backward toward the parking
frame is parked, the vehicle is obliquely parked in the parking
frame and cannot be fit neatly in the parking frame. In step S172,
a parking route including a turnabout is regenerated with respect
to the re-targeted parking position calculated in step S130 while
the stopped state is maintained.
Inventors: |
HIRAKAWA; Keiichiro;
(Hitachinaka-shi, JP) ; OKUBO; Satoru;
(Hitachinaka-shi, JP) ; SEIMIYA; Masashi;
(Hitachinaka-shi, JP) ; TSUGE; Munetoshi;
(Hitachinaka-shi, JP) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
HITACHI AUTOMOTIVE SYSTEMS, LTD. |
Hitachinaka-shi, Ibaraki |
|
JP |
|
|
Assignee: |
HITACHI AUTOMOTIVE SYSTEMS,
LTD.
Hitachinaka-shi, Ibaraki
JP
|
Appl. No.: |
16/969696 |
Filed: |
January 11, 2019 |
PCT Filed: |
January 11, 2019 |
PCT NO: |
PCT/JP2019/000634 |
371 Date: |
August 13, 2020 |
Current U.S.
Class: |
1/1 |
International
Class: |
B60W 30/06 20060101
B60W030/06; G01C 21/34 20060101 G01C021/34; G01C 21/36 20060101
G01C021/36; G08G 1/14 20060101 G08G001/14; B60W 60/00 20060101
B60W060/00 |
Foreign Application Data
Date |
Code |
Application Number |
Feb 14, 2018 |
JP |
2018-024263 |
Claims
1. A parking assist device comprising: a parking-frame recognition
unit that recognizes a parking frame; a route generation unit that
generates a route from a current position of a vehicle to a target
parking position in the parking frame; a re-targeted parking
position calculating unit that causes the parking-frame recognition
unit to re-recognize the parking frame and calculates a re-targeted
parking position of the vehicle in a case where the vehicle
approaches the parking frame with a predetermined distance
therebetween; a correction calculation unit that calculates a
necessary correction amount for the vehicle to reach the
re-targeted parking position from a re-recognized position where
the parking frame is re-recognized; a distance calculation unit
that calculates a remaining distance from the re-recognized
position to the re-targeted parking position; and a correction
judgment unit that judges whether or not correction of the
necessary correction amount with the remaining distance calculated
is possible, wherein a parking route of the vehicle is changed
according to judgement as to whether or not the correction is
possible made by the correction judgment unit.
2. The parking assist device according to claim 1, wherein the
correction judgment unit judges whether or not the correction is
possible on a basis of relationship between a remaining distance
and a necessary correction amount stored in advance.
3. The parking assist device according to claim 1, wherein the
route generation unit regenerates a turnabout route to the
re-targeted parking position in a case where the correction
judgment unit judges that the correction is impossible.
4. The parking assist device according to claim 3 further
comprising an interface unit that displays the route generated and
selects a travelling route, wherein in a case where the interface
unit receives a parking route to the re-targeted parking position
regenerated by the route generation unit, the interface unit
presents inquiry information as to whether or not to perform
parking assist to the re-targeted parking position.
5. The parking assist device according to claim 1, wherein the
parking-frame recognition unit recognizes the parking frame from a
frame line position detected by a camera in a case where the
parking frame is a parking space surrounded by a parking frame
line, recognizes the parking frame from a position of an adjacent
vehicle detected by a sonar in a case where the parking frame is a
parking space surrounded by an adjacent vehicle, and recognizes the
parking frame from a frame line position detected by the camera or
recognizes the parking frame from a position of the adjacent
vehicle detected by the sonar in a case where the parking frame is
a parking space surrounded by both the parking frame line and the
adjacent vehicle.
6. The parking assist device according to claim 1, wherein the
parking-frame recognition unit recognizes the parking frame by a
camera and a sonar installed on a rear and a side of the vehicle in
a case where the vehicle is parked side by side in the parking
frame backward or obliquely backward, and recognizes the parking
frame with a camera and a sonar installed on a front and on the
side of the vehicle in a case where the vehicle is parked side by
side in the parking frame forward or obliquely forward.
7. The parking assist device according to claim 1, wherein the
parking-frame recognition unit stops re-recognition of the parking
frame by a camera and re-recognizes an adjacent vehicle by a sonar
in a case where the camera fails before the re-recognition of the
parking frame.
Description
TECHNICAL FIELD
[0001] The present invention relates to a parking assist
device.
BACKGROUND ART
[0002] Driving assist systems have been developed to prevent
traffic accidents and to reduce driving loads on drivers during
traffic congestion and the like. One example of the driving assist
systems is parking assist. In parking assist, if the driver
specifies a target parking frame, some or all of accelerator, brake
and steering operations are automatically performed to park the
vehicle in the target parking frame.
[0003] PTL 1 describes that in a case where a vehicle approaches a
parking frame, a camera provided on a side of the vehicle
re-recognizes the parking frame with high accuracy to correct the
target parking position.
[0004] However, due to the positional relationship between the
own-vehicle position and the parking-frame position when the
parking frame is re-recognized, the remaining travel distance to
the target parking position and the steering amount, and the like
are limited, and the lateral position and the yaw angle that the
vehicle can correct are limited. Therefore, in a case where the
vehicle is parked toward the parking frame, the vehicle is
obliquely parked in the parking frame and cannot be fit neatly in
the parking frame. Since the lateral position and the yaw angle
that can be corrected in a narrow range within the parking frame
are limited, it is necessary to return the vehicle to the position
outside the parking frame and then makes a turnabout so that the
vehicle is neatly fit in the parking frame.
CITATION LIST
Patent Literature
[0005] PTL 1: JP 2008-285083 A
SUMMARY OF INVENTION
Technical Problem
[0006] In the device described in PTL 1 described above, the
vehicle has to be returned to the position outside the parking
frame and then parked, which causes a problem that it takes time to
park the vehicle.
Solution to Problem
[0007] A parking assist device according to the present invention
includes a parking-frame recognition unit that recognizes a parking
frame, a route generation unit that generates a route from a
current position of a vehicle to a target parking position in the
parking frame, a re-targeted parking position calculating unit that
calculates a re-targeted parking position of the vehicle in a case
where the vehicle approaches the parking frame with a predetermined
distance therebetween, a correction calculation unit that
calculates a necessary correction amount for the vehicle to reach
the re-targeted parking position from a re-recognized position
where the parking frame is re-recognized, a distance calculation
unit that calculates a remaining distance from the re-recognized
position to the re-target parking position, and a correction
judgment unit that judges whether or not correction of the
necessary correction amount with the remaining distance is
possible, in which a parking route of the vehicle is changed
according to judgment as to whether or not the correction is
possible made by the correction judgment unit.
Advantageous Effects of Invention
[0008] With the automatic parking assist process according to the
present invention, there is no risk of obliquely parking a vehicle
in a parking frame, and therefore, it is not necessary to move the
vehicle obliquely parked in the parking frame to re-park the
vehicle, and the time required for parking is can be shortened.
BRIEF DESCRIPTION OF DRAWINGS
[0009] FIG. 1 is a system configuration diagram of a parking assist
device.
[0010] FIG. 2 is a flowchart illustrating a parking assist process
of a parking control unit.
[0011] FIG. 3 is a view illustrating a state of a vehicle located a
predetermined distance before a parking frame.
[0012] FIGS. 4(a) and 4(b) are a view illustrating the state of the
vehicle located the predetermined distance before the parking
frame, and a partially enlarged view thereof, respectively.
DESCRIPTION OF EMBODIMENTS
[0013] FIG. 1 is a system configuration diagram of a parking assist
device 1.
[0014] The parking assist device 1 includes a parking control unit
100 and a navigation system 200. The parking assist device 1
further includes an external-environment recognition sensor 310 and
a vehicle sensor 320, which are connected to the parking control
unit 100 via an onboard network 100a. The parking assist device 1
further includes an engine 410, a brake 420, a steering 430, and a
transmission 440 that are connected to the parking control unit 100
via an onboard network 100b.
[0015] The parking control unit 100 includes a parking-frame
recognition unit 110, a route generation unit 120, a re-targeted
parking position calculating unit 130, a correction calculation
unit 140, a distance calculation unit 141, a correction judgment
unit 142, an own-vehicle position estimation unit 150, and a
vehicle control unit 160.
[0016] The parking-frame recognition unit 110 recognizes a parking
space where a vehicle is to be parked on the basis of parking frame
lines of a parking lot and or an adjacent vehicle parked in the
parking lot detected by the external-environment recognition sensor
310 such as a camera or a sonar. There are three types of parking
spaces of the embodiment, that is, a rectangular area surrounded by
parking frame lines, a rectangular area surrounded by adjacent
vehicles, and a rectangular area surrounded by both the parking
frame lines and the adjacent vehicles. Therefore, each of the
parking spaces is treated as a parking frame including a pair of
short sides at the front end and the rear end corresponding to the
front and rear ends of the vehicle, respectively, and a pair of
right and left long sides corresponding to the right and left side
ends of the vehicle, respectively.
[0017] The route generation unit 120 generates a parking route from
the current position of the vehicle to the target parking position
within the parking frame recognized by the parking-frame
recognition unit 110. Note that a parking route can be generated
not only when the vehicle stops but also when the vehicle is
travelling. In particular, if the external-environment recognition
sensor 310 has high accuracy, a parking route can be generated even
while travelling. In addition, the target parking position is
uniquely defined within the recognized parking frame.
[0018] In a case where the vehicle approaches one short side that
constitutes the front end of the parking frame with a predetermined
distance therebetween after an automatic parking control process is
started and the vehicle starts travelling along the parking route
from the initial position, the parking-frame recognition unit 110
re-recognizes the parking frame and the re-targeted parking
position calculating unit 130 calculates the re-targeted parking
position of the vehicle. Re-recognizing the parking frame means
executing the process of re-recognizing the parking frame by the
parking-frame recognition unit 110 when the vehicle approaches the
parking frame with a predetermined distance therebetween.
[0019] The correction calculation unit 140 calculates the necessary
correction amount of the vehicle for reaching the re-targeted
parking position from the re-recognized position where the parking
frame is re-recognized. The necessary correction amount includes
the lateral-position correction amount and the yaw-angle correction
amount obtained from the current position and the attitude of the
vehicle. That is, the necessary correction amount is a correction
amount necessary for travelling again toward the re-parking target
position on the basis of the initially set parking route and the
parking route calculated after the re-targeted parking position is
set. The necessary correction amount will be described later with
reference to FIG. 4.
[0020] The distance calculation unit 141 calculates the remaining
distance from the re-recognized position to the re-targeted parking
position of the re-recognized parking frame. The remaining distance
is the travel distance between the current position of the vehicle
moving along the parking route and the re-parking target position.
The remaining distance will be described later with reference to
FIG. 4.
[0021] The correction judgment unit 142 judges whether or not
correction of the necessary correction amount is possible with the
calculated remaining distance. Specifically, the correction
judgment unit 142 stores in advance the relationship between the
remaining distance and the necessary correction amount that can be
corrected, and judges whether or not the necessary correction
amount calculated by the correction calculation unit 140 and the
remaining distance calculated by the distance calculation unit 141
are within the range of the stored correction amount. This
judgement process will be described in detail later.
[0022] Note that in a case where the correction judgment unit 142
judges that the correction is impossible, the route generation unit
120 generates a turnabout route to the re-targeted parking
position. The process of generating the turnback route will be
described in detail later.
[0023] The own-vehicle position estimation unit 150 estimates the
current position of the vehicle from information of the vehicle
sensor 320 such as a global positioning system (GPS), a global
navigation satellite system (GNSS), a gyro sensor, or the like.
[0024] The vehicle control unit 160 controls various actuators as
well as the engine 410, the transmission 440, and the like on the
basis of the information from the vehicle sensor 320, the
external-environment recognition sensor 310, and the like, and the
vehicle enters or exits the parking lot by automatic driving. In
the case of manual driving, the vehicle is controlled according to
input of operation signals from the steering 430, the brake 420, or
the like to advance or stop the vehicle.
[0025] The navigation system 200 includes an operation unit 201
that serves as a human machine interface and transmits and receives
information between the navigation system 200 and the driver, and a
display unit 202, and a parking route is displayed on the display
unit 202.
[0026] The external-environment recognition sensor 310 is a camera,
a sonar, or the like, and is installed, for example, in the front,
the rear, and sides of the vehicle.
[0027] The parking-frame recognition unit 110 (1) recognizes a
parking frame from the frame line position detected by the camera
in a case where the parking frame is a parking space surrounded by
the parking frame lines, in other words, in a case where no other
vehicle is parked on both the right and left sides of the parking
frame line, (2) recognizes the parking frame from the positions of
the adjacent vehicles detected by the sonar, in a case where the
parking frame is a parking space surrounded by the adjacent
vehicles, in other words, the parking frame is not a parking space
surrounded by the parking frame lines but is formed by the vehicles
parked on the right and left sides, and (3) recognizes the parking
frame from the parking frame lines detected by the cameras or the
parking frame from the position information of the adjacent
vehicles detected by the sonars in a case where the parking frame
is a parking space surrounded by both the parking frame lines and
the adjacent vehicles. In any of the cases (1) to (3), the parking
frame is recognized and processed as a rectangular frame.
[0028] In addition, the parking-frame recognition unit 110 (1)
recognizes the parking frame by the cameras and the sonars
installed on the rear and the sides of the vehicle in a case where
the vehicle is parked side by side in the parking frame backward or
obliquely backward, and (2) recognize the parking frame with the
cameras and the sonars installed on the front and the sides of the
vehicle in a case where the vehicle is parked side by side in the
parking frame forward or obliquely forward. The recognition
processes of (1) and (2) are the processes of recognizing the
parking frame on the basis of the detection signals of the cameras
and the sonars installed on the front, rear, and the right and left
sides of the vehicle. That is, the cameras and the sonars to be
used may be selected if the user selects the parking method of (1)
or (2) upon start of automatic parking, that is, upon parking
assist activation operation.
[0029] Further, the parking-frame recognition unit 110 stops
re-recognition of the parking frame by the cameras and
re-recognizes the adjacent vehicles by the sonars in a case where
the camera fails before the parking-frame recognition unit 110
starts the process of re-recognizing the parking frame as described
above.
[0030] Next, operation of the present embodiment will be described
with reference to FIGS. 2 to 4(b).
[0031] FIG. 2 is a flowchart illustrating the parking assist
process of the parking control unit 100. Note that the program
illustrated in this flowchart can be executed by a computer
including a CPU, a memory, and the like. All or some of the
processes may be realized by a hard logic circuit. This program can
be stored in the storage medium of the parking control unit 100 in
advance and provided. Alternatively, the program may be stored in
an independent recording medium and provided, or the program may be
recorded and stored in the storage medium of the parking control
unit 100 via a network line.
[0032] In the flowchart illustrated in FIG. 2, side-by-side
backward parking in which the vehicle moves forward with the
parking position on the side of the vehicle, then makes a
turnabout, and the vehicle enters the parking frame while moving
backward is described as an example.
[0033] In step S010, the parking assist device 1 causes the
parking-frame recognition unit 110 to start to search for a parking
frame where the vehicle can be parked upon parking assist
activation operation performed by the driver input from the
operation unit 201 of the navigation system 200. The parking-frame
recognition unit 110 detects a parking space in which the own
vehicle can be parked, by using information such as the parking
frame lines or adjacent vehicles obtained from the
external-environment recognition sensor 310. The parking frame
searched for in step S010 is displayed on the display unit 202 of
the navigation system 200.
[0034] In step S020, the driver selects and determines a desired
parking frame by using the operation unit 201 of the navigation
system 200.
[0035] In step S030, a target parking position is calculated for
the parking frame determined in step S020. The target parking
position is information on the position where the vehicle should be
parked in the parking frame determined by the driver; however,
information on the yaw angle at the current position of the vehicle
is also acquired. This target parking position is calculated from
the relationship between the current position of the vehicle and
the recognized parking frame.
[0036] In step S040, the route generation unit 120 generates a
parking route for the target parking position calculated in step
S030. If generation of the parking route is completed, the parking
assist can be started. In step S050, vehicle control for parking by
automatic driving is started upon parking assist start operation
performed by the driver input from the operation unit 201 of the
navigation system 200.
[0037] In step S060, under the control of the vehicle control unit
160, the vehicle moves forward to the turnabout position according
to the parking route calculated in step S040. In step S070, the
vehicle is stopped at the turnabout position. Next, in step S080,
the travelling direction is switched to backward. Then, in step
S090, backward movement is started.
[0038] If the backward movement is started in step S090, in step
S100, the vehicle moves backward while calculating the distance
between the own-vehicle position and the front end of the parking
frame. The distance to the front end of the parking frame is
calculated on the basis of the recognition result of the
parking-frame recognition unit 110. Note that since the distance
from the parking frame is often long immediately after start of the
backward movement, the distance to the front end of the parking
frame may be calculated on the basis of the parking route
calculated in step S040 and information of the own-vehicle position
acquired by the own-vehicle position estimation unit 150.
[0039] In step S110, it is judged whether or not the distance
calculated in step S100 is equal to or less than a predetermined
distance. The predetermined distance is, for example, a
predetermined distance that is equal to or less than the distance
from the turnabout position to the front end of the parking frame,
and varies depending on the accuracy of the external-environment
recognition sensor 310 or the like. If the distance is not equal to
or less than the predetermined distance in step S110, the process
returns to step S100, the vehicle continues to move backward toward
the parking frame, and calculates the distance between the
own-vehicle position and the front end of the parking frame. In
step S110, if the distance is equal to or less than the
predetermined distance, the process proceeds to step S120.
[0040] In step S120, the parking-frame recognition unit 110
re-recognizes the parking frame that the vehicle has approached
with the predetermined distance therebetween. That is, the
parking-frame recognition unit 110 detects a parking space in which
the own vehicle can be parked, by using information such as the
parking frame lines or the adjacent vehicles obtained from the
external-environment recognition sensor 310.
[0041] In the next step S130, the re-targeted parking position is
calculated from the re-recognized parking frame. The re-targeted
parking position is calculated on the basis of the relationship
between the current position of the vehicle and the recognized
parking frame, and is information of the position where the vehicle
should be parked. Similarly to step S030, the yaw angle information
of the vehicle at this time point is also acquired.
[0042] In the next step S140, the correction calculation unit 140
calculates the correction amount necessary for parking the vehicle
at the re-targeted parking position (x', y', .theta.') calculated
in step S130 from the current own-vehicle position (xc, yc) and the
yaw angle (.theta.c). The correction amount includes the
lateral-position correction amount and the yaw-angle correction
amount acquired from the current position and the attitude of the
vehicle.
[0043] In step S150, the distance calculation unit 141 calculates
the remaining distance from the current own-vehicle position to the
re-targeted parking position calculated in step S130.
[0044] FIG. 3 is a view illustrating a state of a vehicle 501
located a predetermined distance before a parking frame 502. The
processes of steps S120 to S150 will be described with reference to
FIG. 3.
[0045] The vehicle 501 at an own-vehicle position P0 re-recognizes
the parking frame in step S120. Then, a re-targeted parking
position P2 is calculated on the basis of the parking frame
re-recognized in step S130.
[0046] Then, on the basis of the own-vehicle position P0 (xc, yc,
6c) and the re-targeted parking position P2 (x', y', .theta.'), in
step S140, the lateral-position correction amount .delta. and the
yaw-angle correction amount .theta. are calculated by coordinate
calculation. Here, it is assumed that the corrected route corrected
by the re-targeted parking position P2 is R2.
[0047] In addition, the remaining distance r2 to the re-targeted
parking position P2 that is re-recognized is calculated in step
S150 from the own-vehicle position P0 (xc, yc, .theta.c) and the
re-targeted parking position P2 (x', y', .theta.'). The remaining
distance r2 may be calculated as the distance between two points of
the own-vehicle position P0 (xc, yc, .theta.c) and the re-targeted
parking position P2 (x', y', .theta.').
[0048] Calculation of the lateral-position correction amount
.delta. and the yaw-angle correction amount .theta. in step S140,
and calculation of the remaining distance r2 to the re-targeted
parking position P2 that is re-recognized in step S150 may also be
performed on the basis of the corrected route R2, for example. A
calculation example in this case will be described with reference
to FIGS. 4(a) and 4(b). FIG. 4(a) is a view illustrating a state of
the vehicle 501 located a predetermined distance before the parking
frame, and FIG. 4(b) is a partially enlarged view thereof.
[0049] While the vehicle 501 is being controlled according to the
parking route R1 with respect to the target parking position P1,
the parking frame is re-recognized in step S120, and the
re-targeted parking position P2 is calculated in step S130. In
calculation of the parking route during travelling, in a case where
calculation equivalent to route generation performed while the
vehicle is stopped cannot be performed in step S040, a parking
route R2 of passing through the re-targeted parking position P2 is
obtained by using a simple method such as shifting the existing
parking route R1, or the like. As illustrated in FIG. 4(a), a
perpendicular line is drawn from the current own-vehicle position
P0 to the corrected route R2. Then, as illustrated in FIG. 4(b),
the distance between an intersection q2 and the own-vehicle
position P0 is set as a lateral position correction amount
.delta..
[0050] Note that in the embodiment, .delta.=xc-x' is satisfied
because the Cartesian coordinates with the vertical direction in
FIG. 3 as the Y axis and the horizontal direction in FIG. 3 as the
X axis is used.
[0051] Further, the difference between a target yaw angle a2 of the
corrected route R2 at the intersection q2 (inclination of the
corrected route R2 relative to the Y axis at a position q2 of the
correction route R2) and a yaw angle a1 of the current own-vehicle
position (inclination of the parking route R1 relative to the Y
axis at the position P0 of the parking route R1) is set to a yaw
angle correction amount .theta.. Further, the remaining distance r2
to the re-targeted parking position P2 that is re-recognized is set
to the route length between the intersection q2 and the target
parking position P2.
[0052] As described above, the lateral-position correction amount
.delta., the yaw-angle correction amount .theta., and the remaining
distance r2 can also be obtained on the basis of the corrected
route R2.
[0053] The description will be returned to the description of the
flowchart in FIG. 2.
[0054] In step S160, the correction judgment unit 142 judges from
the necessary correction amounts calculated in steps S140 and S150
and the remaining distance to the re-targeted parking position that
is re-recognized, whether or not correction of the parking route
with this remaining distance is possible.
[0055] In step S160, for example, the lateral position correctable
amount and the yaw angle correctable amount for the travel distance
of the vehicle 501 are stored in advance in a map, and it is judged
whether or not correction with the remaining distance r2 is
possible according to whether or not the calculated remaining
distance, the calculated lateral-position correction amount and the
calculated yaw-angle correction amount are within the correctable
amounts stored in advance.
[0056] In a case where it is judged in step S160 that correction
with the remaining distance r2 is possible, the process proceeds to
step S170. In step S170, control is continued for the re-targeted
parking position that is re-recognized, and the vehicle is moved
backward. Then, in step S180, the vehicle is stopped at the
re-targeted parking position that is re-recognized to complete the
parking assist.
[0057] In contrast, in a case where it is judged in step S160 that
correction with the remaining distance r2 is impossible, the
vehicle is stopped in step S171. Even if it is judged that
correction is impossible in step S160, in a case where the vehicle
moves backward toward the parking frame and is parked, there is a
problem that the vehicle is obliquely parked in the parking frame
and cannot be fit neatly in the parking frame.
[0058] Therefore, in step S172, while the stopped state is
maintained, with respect to the re-targeted parking position
calculated in step S130, the parking route including a turnabout (a
route to the corrected route R2 in FIG. 3, but the turnabout route
is not illustrated) is regenerated. At this time, the display unit
202 may inform the driver of the reason why the vehicle has stopped
(the fact that a turnabout is necessary) so as to confirm with the
driver whether or not parking assist is to be carried out by using
the regenerated route. In a case where parking assist is not
carried out, manual driving is performed.
[0059] Next, in step S173, vehicle control is started according to
the turnabout route regenerated in step S172. Then, in step S174,
the vehicle is moved forward, and in step S175, the vehicle is
stopped at the turnabout position of the regenerated turnabout
route. Then, in step S176, the travelling direction is switched to
backward. Then, the process returns to step S090 to start backward
movement. The processes after step S100 are executed again, the
vehicle is controlled to the latest re-targeted parking position
calculated in step S130, and the vehicle is stopped at the
re-targeted parking position by the processes of steps S160, S170,
and S180.
[0060] In the above-described embodiment, the side-by-side backward
parking is described as an example; however, the same applies to
oblique backward parking, side-by-side forward parking, oblique
forward parking, and the like. That is, in a case where the vehicle
approaches the parking frame with a predetermined distance
therebetween, the necessary correction amount of the vehicle for
reaching the re-targeted parking position from the re-recognized
position where the parking frame is re-recognized is calculated. If
correction of the necessary correction amount cannot be performed
with the remaining distance from the re-recognized position to the
re-targeted parking position, a turnabout route to the re-targeted
parking position is regenerated.
[0061] According to the present embodiment, the time required for
parking can be shortened as compared with the case where the
vehicle is temporarily returned to the position outside the parking
frame and then the vehicle is fitted in the parking frame.
[0062] According to the embodiment described above, the following
operational effects can be obtained. (1) The parking assist device
1 includes the parking-frame recognition unit 110 that recognizes a
parking frame, the route generation unit 120 that generates the
route from the current position P0 of the vehicle to the target
parking position P1 in the parking frame, the re-targeted parking
position calculating unit 130 that causes the parking-frame
recognition unit 110 to re-recognize the parking frame and
calculates the re-targeted parking position P2 of the vehicle in a
case where the vehicle approaches the parking frame with a
predetermined distance therebetween, and the correction calculation
unit 140 that calculates necessary correction amounts .delta.,
.theta. for the vehicle to reach the re-targeted parking position
P2 from the re-recognized position P0 where the parking frame is
re-recognized, the distance calculation unit 141 that calculates
the remaining distance r2 from the re-recognized parking position
P0 to the re-targeted parking position P2, and the correction
judgment unit 142 that judges whether or not correction with the
remaining distance r2 is possible, in which the parking route R1 of
the vehicle is changed to the corrected route R2 according to
judgment as to whether or not correction is possible made by the
correction judgment unit 142.
[0063] In the parking assist device 1 of the embodiment configured
as described above, in a case where the correction judgment unit
142 judges that the correction of the necessary correction amount
is impossible, it is possible to determine in advance whether the
vehicle is parked manually or the route to the re-targeted parking
position is reset to continue automatic parking. As a result, it is
possible to avoid wasteful travelling such as forward movement, a
turnabout, and backward movement made in order to change the
parking attitude after the vehicle is obliquely parked in the
parking frame. As a result, the time required for parking can be
shortened.
[0064] (2) In the parking assist device 1 according to (1), the
correction judgment unit 142 judges whether or not the correction
is possible on the basis of the relationship between the remaining
distance r2 and the necessary correction amounts .delta., .theta.
stored in advance. As a result, it is possible to appropriately
judge whether or not the correction with the remaining distance r2
is possible and reduce the time required for parking.
[0065] (3) In the parking assist device 1 according to (1) or (2),
the route generation unit 120 regenerates the turnabout route R2 to
the re-targeted parking position P2 in a case where the correction
judgment unit 142 judges that the correction is impossible. As a
result, the time required for parking can be shortened in a case
where the correction with the remaining distance is impossible.
[0066] (4) The parking assist device 1 according to (3) includes
the navigation system 200 that displays the route R2 generated and
selects a route for travelling. The route generation unit 120
informs the navigation system 200 whether or not parking assist to
the re-targeted parking position P2 regenerated is to be performed.
Upon receiving this notification, the navigation system 200 outputs
inquiry information as to whether or not to carry out parking
assist on a screen or by voice. As a result, the driver can select
whether or not to carry out parking assist in a case where
correction with the remaining distance is impossible.
[0067] (5) In the parking assist device 1 according to (1), the
parking-frame recognition unit 110 recognizes the parking frame
from the frame line position detected by the cameras in a case
where the parking frame is a parking space surrounded by the
parking frame lines, recognizes the parking frame from the position
of the adjacent vehicles detected by the sonars in a case where the
parking frame is a parking space surrounded by the adjacent
vehicles, and recognizes the parking frame from the frame line
position detected by the cameras or the parking frame is recognized
from the positions of the adjacent vehicles detected by the sonars
in a case where the parking frame is surrounded by both the parking
frame lines and the adjacent vehicles. As a result, it is possible
to properly provide parking assist.
[0068] (6) In the parking assist device 1 according to (1), the
parking-frame recognition unit 110 recognizes the parking frame by
the cameras and the sonars installed on the rear and the sides of
the vehicle in a case where the vehicle is parked side by side in
the parking frame backward or obliquely backward, and recognizes
the parking frame with the cameras and the sonars installed on the
front and the sides of the vehicle in a case where the vehicle is
parked side by side in the parking frame forward or obliquely
forward. As a result, it is possible to properly provide parking
assist.
[0069] (7) In the parking assist device 1 according to (1), the
parking-frame recognition unit 110 stops the re-recognition of the
parking frame by the cameras and re-recognizes the adjacent
vehicles by the sonars in a case where the camera fails before the
re-recognition of the parking frame. As a result, it is possible to
properly provide parking assist.
[0070] The present invention is not limited to the above-described
embodiment, and other modes conceivable within the scope of the
technical idea of the present invention are also included in the
scope of the present invention as long as the characteristics of
the present invention are not impaired.
REFERENCE SIGNS LIST
[0071] 100 parking control unit [0072] 110 parking-frame
recognition unit [0073] 120 route generation unit [0074] 130
re-targeted parking position calculating unit [0075] 140 correction
calculation unit [0076] 141 distance calculation unit [0077] 142
correction judgment unit [0078] 150 own-vehicle position estimation
unit [0079] 160 vehicle control unit [0080] 200 navigation system
[0081] 201 operation unit [0082] 202 display unit [0083] 310
external-environment recognition sensor [0084] 320 vehicle sensor
[0085] 410 engine [0086] 420 brake [0087] 430 steering [0088] 440
transmission
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